Depicting force

ABSTRACT

A force exerted on a distal end of an elongate medical device can be determined. A graphical representation of the distal end of the elongate medical device and a graphical representation of the force exerted on the distal end of the elongate medical device can be computed. The graphical representation of the force can emanate from the graphical representation of the distal end of the elongate medical device. A first dimension of the graphical representation of the force can be increased in response to a longitudinal force being exerted on the distal end of the elongate medical device. A second dimension of the graphical representation of force can be increased in response to a lateral force being exerted on the distal end of the elongate medical device.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. provisional patent applicationNo. 61/987,332 (the '332 application), filed on 1 May 2014. Thisapplication is also related to U.S. design application Ser. No.29/489,667 (the '667 application), filed on 1 May 2014, and U.S. designapplication Ser. No. 29/489,669 (the '669 application), filed on 1 May2014. The '332 application, the '667 application, and the '669application are hereby incorporated by reference as though fully setforth herein.

BACKGROUND a. Field of the Disclosure

This disclosure relates to depicting a force exerted on a distal end ofan elongate medical device.

b. Background Art

Elongate medical devices (e.g., catheters) can be operatively connectedto various types of sensors and active elements and can be used in avariety of diagnostic and/or therapeutic medical procedures. Forexample, electrodes can be used on cardiac mapping catheters todetermine electric potentials in the heart. Likewise, catheters withelectrodes or magnetic coils can be used to generate an image of theinternal geometry of a heart, and can be used (separately or incombination) to match the electrical potentials with a location on thetissue. Electrodes and other active elements can also be used onablation catheters to create tissue necrosis in cardiac tissue tocorrect conditions such as atrial arrhythmia (including, but not limitedto, ectopic atrial tachycardia, atrial fibrillation, and atrialflutter). Arrhythmia can create a variety of dangerous conditionsincluding irregular heart rates, loss of synchronous atrioventricularcontractions, and stasis of blood flow, which can lead to a variety ofailments and even death. It is believed that the primary cause of atrialarrhythmia is stray electrical signals within the left or right atriumof the heart. The ablation catheter imparts ablative energy(radiofrequency energy, cryoablation, lasers, chemicals, high-intensityfocused ultrasound, etc.) to cardiac tissue to create a lesion in thecardiac tissue. This lesion disrupts undesirable electrical pathways andthereby limits or prevents stray electrical signals that lead toarrhythmias.

In some diagnostic and/or therapeutic medical procedures, a catheter isinserted into a chamber of the heart and brought into contact with theinner heart wall. In such procedures, it can be important that thedistal tip of the catheter engages the endocardium and/or engages theendocardium with sufficient pressure to ensure good contact. Excessivepressure, however, may cause undesired damage to the heart tissue andeven perforation of the heart wall.

For example, in intracardiac radio-frequency (RF) ablation, a catheterhaving an electrode at its distal tip is inserted through the patient'svascular system into a chamber of the heart. As discussed herein, theelectrode is brought into contact with a site (or sites) on theendocardium, and RF energy is applied through the catheter to theelectrode in order to ablate the heart tissue at the site. Propercontact between the electrode and the endocardium during ablation isnecessary in order to achieve the desired therapeutic effect withoutcausing damage to the tissue and/or perforation of the heart wall.

SUMMARY

In various embodiments, instructions are executable by a processingresource to determine a force exerted on a distal end of an elongatemedical device. The determination can include a determination of anamount of longitudinal force exerted on the distal end of the elongatemedical device and an amount of lateral force exerted on the distal endof the elongate medical device. A graphical representation of the distalend of the elongate medical device and a graphical representation of theforce exerted on the distal end of the elongate medical device can becomputed. The graphical representation of the force emanates from thegraphical representation of the distal end of the elongate medicaldevice. A first dimension of the graphical representation of the forcecan be increased in response to a longitudinal force being exerted onthe distal end of the elongate medical device and a second dimension ofthe graphical representation of force can be increased in response to alateral force being exerted on the distal end of the elongate medicaldevice. In some embodiments, an indicator shape that is representativeof the force exerted on the distal end of the elongate medical devicecan be displayed. A first dimension of the indicator shape can beincreased or decreased in response to a change in the amount oflongitudinal force being exerted on the distal end of the elongatemedical device and a second dimension of the indicator shape can beincreased or decreased in response to a change in the amount of lateralforce being exerted on the distal end of the elongate medical device.The graphical representation of the longitudinal force can be displayedas a cylinder that extends from a distal end of the graphicalrepresentation of the elongate medical device and along a longitudinalaxis defined by the elongate medical device. In some embodiments, thegraphical representation of the amount of longitudinal force can bedisplayed as the cylinder, in response to the amount of longitudinalforce exceeding a defined amount of longitudinal force and an amount oflateral force being less than a defined amount of lateral force. Alongitudinal length of the cylinder can be changed in response to achange in the longitudinal force exerted on the distal end of theelongate medical device. The graphical representation of the lateralforce can be displayed as a disk that emanates from the graphicalrepresentation of the distal end of the elongate medical device. In someembodiments, the graphical representation of the amount of lateral forcecan be displayed as the disk, in response to the amount of the lateralforce exceeding a defined amount of lateral force and an amount oflongitudinal force being less than a defined amount of longitudinalforce. A diameter of the disk can be changed in response to a change inthe lateral force exerted on the distal end of the elongate medicaldevice. In some embodiments, a color of the indicator shape can bechanged from a first color to a second color in response to an amount ofthe force exerted on the distal end of the elongate medical deviceexceeding a threshold.

In various embodiments, a method is provided for depicting force. Themethod can include determining a force exerted on a distal end of anelongate medical device. An amount of longitudinal force exerted on thedistal end of the elongate medical device and an amount of lateral forceexerted on the distal end of the elongate medical device can bedetermined. The method can include computing, with a computing device, agraphical representation of the force exerted on the distal end of theelongate medical device. The graphical representation of the force canbe a first type of indicator shape for a pure longitudinal force exertedon the distal end of the elongate medical device and a second type ofindicator shape for a pure lateral force exerted on the distal end ofthe elongate medical device. In various embodiments, the first type ofindicator shape can be a sphere located at a distal tip of the distalend of the elongate medical device and the second type of indicatorshape can be a torus located proximally from the distal tip of thedistal end of the elongate medical device and can be coaxial with thedistal end of the elongate medical device. In various embodiments, thefirst type of indicator shape can be a cylinder that extends from adistal end of the elongate medical device along an axis defined by theelongate medical device and the second type of indicator shape can be adisk. In some embodiments, a length of the cylinder can be increased inresponse to an increasing amount of longitudinal force being exerted onthe distal end of the elongate medical device. In some embodiments, adiameter of the disk can be increased in response to an increasingamount of lateral force being exerted on the distal end of the elongatemedical device. The method can include displaying the graphicalrepresentation of the force exerted on the distal end of the elongatemedical device next to a graphical representation of a distal end of theelongate medical device. The first type of indicator shape can be mergedwith the second type of indicator shape in response to both longitudinalforce and lateral force being exerted on the distal end of the elongatemedical device. In some embodiments, the first type of indicator shapecan be transformed into the second type of indicator shape as the amountof longitudinal force decreases and the amount of lateral forceincreases. In some embodiments, the second type of indicator shape canbe transformed into the first type of indicator shape as the amount oflongitudinal force increases and the amount of lateral force decreases.

In various embodiments, a system for force imaging is provided todetermine an amount of longitudinal force and an amount of lateral forceexerted on a distal end of an elongate medical device. A graphicalrepresentation of the amount of longitudinal force and the amount oflateral force can be displayed via an indicator shape next to a distalend of a graphical representation of the distal end of the elongatemedical device. The indicator shape can have a fixed proximal diameter,a variable distal diameter, and a variable length between the fixedproximal diameter and the variable distal diameter along an axis of theelongate medical device. In response to a change in the amount oflongitudinal force being exerted on the distal end of the elongatemedical device, the variable length between the fixed proximal diameterand the variable distal diameter can be changed. In response to a purelateral force being exerted on the distal end of the elongate medicaldevice, the length between the fixed proximal diameter and the variabledistal diameter can be zero. In response to a change in the amount oflateral force being exerted on the distal end of the elongate medicaldevice, the variable distal diameter can be changed. In response to apure longitudinal force being exerted on the distal end of the elongatemedical device, the fixed proximal diameter and the variable distaldiameter can be a same diameter. In some embodiments, the indicatorshape can be displayed as a cylinder in response to exertion of a purelongitudinal force being exerted on the distal end of the elongatemedical device. In some embodiments, the indicator shape can bedisplayed as a disk in response to a pure lateral force being exerted onthe distal end of the elongate medical device.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagrammatic overview of a system for force imaging, inaccordance with embodiments of the present disclosure.

FIGS. 2A and 2B illustrate a graphical representation of a distal end ofan elongate medical device and longitudinal force exerted on the distalend of the elongate medical device.

FIGS. 3A and 3B illustrate a graphical representation of a distal end ofan elongate medical device and lateral force exerted on the distal endof the elongate medical device.

FIGS. 4A and 4B illustrate a graphical representation of a distal end ofan elongate medical device and mixed lateral and longitudinal forcesexerted on the distal end of the elongate medical device.

FIGS. 5A-5D illustrate an alternate embodiment of a graphicalrepresentation of force exerted on a distal end of an elongate medicaldevice.

FIG. 6 illustrates a display, in accordance with embodiments of thepresent disclosure.

FIG. 7 illustrates a flow chart associated with a method for depictingforce, in accordance with embodiments of the present disclosure.

DETAILED DESCRIPTION

Referring now to the drawings wherein like reference numerals are usedto identify identical components in the various views, FIG. 1 generallyillustrates a system 10 for force imaging having an elongate medicaldevice 19 that includes an electrode assembly 11 configured to be usedin the body for medical procedures. The electrode assembly 11 isincluded as part of a medical device such as an elongate medical device19 and may be used for diagnosis, visualization, and/or treatment oftissue 13 (such as cardiac or other tissue) in the body. For example,the electrode assembly 11 may be used for ablation therapy of tissue 13or mapping purposes in a patient's body 14. FIG. 1 further shows varioussub-systems included in the overall system 10. The system 10 may includea main computer system 15 (including an electronic control unit 16 anddata storage 17, e.g., memory). The computer system 15 may furtherinclude conventional interface components, such as various userinput/output mechanisms 18A and a display 18B, among other components.Information provided by the electrode assembly 11 may be processed bythe computer system 15 and may provide data to the clinician via theinput/output mechanisms 18A and/or the display 18B, or in other ways asdescribed herein.

In the illustrative embodiment, the elongate medical device 19 mayinclude a cable connector or interface 20, a handle 21, a tubular bodyor shaft 22 having a proximal end 23 and a distal end 24. The elongatemedical device 19 may also include other conventional components notillustrated herein, such as a temperature sensor, additional electrodes,and corresponding conductors or leads. The connector 20 may providemechanical, fluid and/or electrical connections for cables 25, 26extending from a fluid reservoir 12 and a pump 27 and the computersystem 15, respectively. The connector 20 may comprise conventionalcomponents known in the art and, as shown, may be disposed at theproximal end of the elongate medical device 19.

The handle 21 provides a portion for a user to grasp or hold theelongate medical device 19 and may further provide a mechanism forsteering or guiding the shaft 22 within the patient's body 14. Forexample, the handle 21 may include a mechanism configured to change thetension on a pull-wire extending through the elongate medical device 19to the distal end 24 of the shaft 22 or some other mechanism to steerthe shaft 22. The handle 21 may be conventional in the art, and it willbe understood that the configuration of the handle 21 may vary. In anembodiment, the handle 21 may be configured to provide visual, auditory,tactile and/or other feedback to a user based on information receivedfrom the electrode assembly 11. For example, if contact to tissue 13 ismade by the electrode assembly 11, the handle 21 may includelight-emitting-diodes, a tone generator, a vibrating mechanicaltransducer, and/or other indicator(s), the outputs of which could varyin proportion to the signal sensed at the electrode assembly.

The computer system 15 can utilize software, hardware, firmware, and/orlogic to perform a number of functions described herein. The computersystem 15 can be a combination of hardware and instructions to shareinformation. The hardware, for example can include processing resource16 and/or a memory 17 (e.g., non-transitory computer-readable medium(CRM) database, etc.). A processing resource 16, as used herein, caninclude a number of processors capable of executing instructions storedby the memory resource 17. Processing resource 16 can be integrated in asingle device or distributed across multiple devices. The instructions(e.g., computer-readable instructions (CRI)) can include instructionsstored on the memory 17 and executable by the processing resource 16 forforce imaging.

The memory resource 33 can be in communication with the processingresource 32. A memory 17, as used herein, can include a number of memorycomponents capable of storing instructions that can be executed byprocessing resource 16. Such a memory 17 can be a non-transitory CRM.The memory 17 can be integrated in a single device or distributed acrossmultiple devices. Further, the memory 17 can be fully or partiallyintegrated in the same device as the processing resource 16 or it can beseparate but accessible to that device and the processing resource 16.Thus, it is noted that the computer system 15 can be implemented on auser device and/or a collection of user devices, on a mobile deviceand/or a collection of mobile devices, and/or on a combination of theuser devices and the mobile devices.

The memory 17 can be in communication with the processing resource 16via a communication link (e.g., path). The communication link can belocal or remote to a computing device associated with the processingresource 16. Examples of a local communication link can include anelectronic bus internal to a computing device where the memory 17 is oneof a volatile, non-volatile, fixed, and/or removable storage medium incommunication with the processing resource 16 via the electronic bus.

Referring to FIGS. 2A and 2B, a graphical representation of a distal endof an elongate medical device and longitudinal force exerted on thedistal end of the elongate medical device is generally illustrated. Withreference to FIG. 2A, the graphical representation of the elongatemedical device 31A can include an elongate shaft 34A (e.g., cathetershaft) and a distal end 33A (e.g., electrode tip). The graphicalrepresentation of the elongate medical device 31A can be displayed on adisplay 18B, which can be a graphical user interface (GUI).

In some embodiments, an orientation of the graphical representation ofthe elongate medical device 31A can be correlated with an orientation ofan elongate medical device 19 that has been inserted into a patient'sbody 14. For example, an electrode can be placed within an elongateshaft and/or distal end of the elongate medical device 19. In addition,patch electrodes (e.g., X-axis electrode, Y-axis patch electrode, Z-axiselectrode) can be attached to a patient, which can obtain raw patch data(i.e., voltage readings) from a signal produced by the electrode placedwithin the elongate shaft and/or physical distal end. The raw patch datacan be used to determine raw electrode location coordinates inthree-dimensional space (X, Y, Z) of the electrode placed within theelongate shaft and/or distal end of the elongate medical device 19. Theraw electrode location coordinates can be used to construct a graphicalrepresentation of the elongate medical device 31A to display anorientation and/or position of the elongate medical device 19 on thedisplay 18B.

Some embodiments of the present disclosure can include depicting a forceexerted on a distal end of the elongate medical device 19. As discussedherein, in some diagnostic and/or therapeutic medical procedures, anelongate medical device 19 can be inserted into a chamber of the heartand brought into contact with the inner heart wall. In medicalprocedures, such as ablation, it can be important for the distal tip ofthe elongate medical device to engage the endocardium and/or engage theendocardium with sufficient pressure to ensure that a good lesion isformed by an electrode attached to the distal tip. Excessive pressure,however, may cause undesired damage to the heart tissue and evenperforation of the heart wall. Alternatively, not enough pressure maycause edema and/or may not sufficiently ablate the heart tissue at thesite to create a good lesion.

It can therefore be beneficial to convey information associated with aforce exerted on a distal end of the elongate medical device 19 to aphysician to avoid complications associated with too much and/or toolittle pressure being applied between the heart tissue and the distalend of the elongate medical device 19. Accordingly, embodiments of thepresent disclosure can determine the force exerted on the distal end ofthe elongate medical device 19 and display a graphical representation ofthe longitudinal force 32. In some embodiments, the force exerted on thedistal end of the elongate medical device 19 can be determined usingvarious methods. One such method can use optical strain sensors toresolve the magnitude and direction of force being exerted on the distalend of the elongate medical device 19. In addition, methods can usepiezoelectric sensors and/or strain gauges to resolve the magnitude anddirection of force being exerted on the distal end of the elongatemedical device 19.

The computer system 15, as discussed in relation to FIG. 1, can be incommunication with the sensors and/or strain gauges and can receiveinformation from the sensors and/or strain gauges to compute a magnitudeof the force in the lateral and longitudinal directions relative to thedistal end of the elongate medical device 19. The computer system 15 canuse the computed magnitude of force in the lateral and longitudinaldirections to determine a composite force vector acting on the distalend of the elongate medical device 19.

The computer system 15 can use the raw electrode location coordinates tocompute a graphical representation of the elongate medical device 31A,including a graphical representation of the distal end of the elongatemedical device 33A. In addition, the computer system 15 can use thecomposite force vector to compute a graphical representation of thelongitudinal force 32 exerted on the distal end of the elongate medicaldevice 19. The graphical representation of longitudinal force 32 cancorrespond with an amount (e.g., magnitude) of lateral and/orlongitudinal force applied to the distal end of the elongate medicaldevice 19. As used herein, lateral force can be defined as a force thatis applied to a side of the distal end of the elongate medical device19, and in some embodiments can include an angular force. As usedherein, longitudinal force can be defined as a force that is applied tothe distal end of the elongate medical device 19 along a directionparallel to a longitudinal axis defined by an elongate shaft and thedistal end of the elongate medical device 19.

In some embodiments, the graphical representation of longitudinal force32 can be displayed as an indicator shape. For instance, in FIG. 2A, thegraphical representation of longitudinal force 32 is displayed as acylinder along a longitudinal axis defined by the elongate medicaldevice 19, which can be indicative of a pure longitudinal force beingapplied to the distal end of the elongate medical device 19. In responseto a change (e.g., increase, decrease) in the amount of longitudinalforce being exerted on the distal end of the elongate medical device 19,a first dimension of the indicator shape can be changed (e.g.,increased, decreased). For example, in response to an amount oflongitudinal force exerted on the distal end of the elongate medicaldevice 19 being increased, a longitudinal length of the graphicalrepresentation of longitudinal force 32 (e.g., indicator shape) canincrease, as shown in FIG. 2B by the graphical representation ofincreased longitudinal force 35.

FIG. 2B illustrates a graphical representation of the elongate medicaldevice 31B that includes an elongate shaft 34B (e.g., catheter shaft)and a distal end 33B (e.g., electrode tip). In contrast to FIG. 2A, afirst dimension (longitudinal length) of the graphical representation oflongitudinal force 32 has been increased to indicate that an increasedamount of longitudinal force is being exerted on the distal end of theelongate medical device 19. For instance, whereas the graphicalrepresentation of longitudinal force 32 may be representative of 10grams of force being applied to the distal end of the elongate medicaldevice 19, the graphical representation of increased longitudinal force35 may be representative of 25 grams of force being applied to thedistal end of the elongate medical device 19. Accordingly, as aphysician watches the graphical representation of the elongate medicaldevice 31A, 31B in relation to tissue 13, for example, the physician canbe provided with a graphical representation of longitudinal force 32and/or graphical representation of increased longitudinal force 35,without having to look at a different area of the display 18B.

In some embodiments, the length of the graphical representation oflongitudinal force 32 (e.g., the indicator shape) can decrease as theamount of longitudinal force exerted on the distal end of the elongatemedical device 19 decreases. In some embodiments, the length candecrease to zero, such that the graphical representation of longitudinalforce 32 is not displayed. Alternatively, the length can decrease to adefined amount such that the indicator shape is still visible. Forexample, the length can be decreased to a defined number of pixels onthe display 18B.

In some embodiments, the graphical representation of the amount oflongitudinal force 32 can be displayed as the cylinder, in response tothe amount of longitudinal force exceeding a defined amount oflongitudinal force and an amount of lateral force being less than adefined amount of lateral force. In an example, a cut-off point can beestablished where the graphical representation of the amount oflongitudinal force 32 is not displayed in response to the amount oflongitudinal force being below the defined amount. Alternatively, thegraphical representation of the amount of longitudinal force 32 can bedisplayed in response to the amount of longitudinal force being abovethe defined amount. In addition, the graphical representation of theamount of longitudinal force 32 can be displayed in response to theamount of lateral force being less than the defined amount of lateralforce. As such, the graphical representation of the amount oflongitudinal force 32 can be displayed as the cylinder, even though anamount (e.g., below a defined amount) of lateral force is being appliedto the distal end of the elongate medical device 19.

Referring to FIGS. 3A and 3B, a graphical representation of a distal endof an elongate medical device and lateral force exerted on the distalend of the elongate medical device is generally illustrated. FIG. 3Aincludes a graphical representation of an elongate medical device 31Cthat includes a graphical representation of a distal end 33C andelongate shaft 34C displayed on display 18B. In contrast to FIGS. 2A and2B, FIG. 3A displays a graphical representation of lateral force 38. Thegraphical representation of lateral force 38 can be displayed as anindicator shape, such as a disk.

In some embodiments, a second dimension of the graphical representationof force can be increased in response to a lateral force being exertedon the distal end of the elongate medical device 19. In response to apure lateral force being exerted on the distal end of the elongatemedical device 19, the length of the graphical representation of thelongitudinal force can decrease to zero, such that the graphicalrepresentation of longitudinal force 32 is not displayed. Alternatively,the length of the graphical representation of longitudinal force candecrease to a defined amount such that the graphical representation oflongitudinal force 32 is still visible. In response to a change (e.g.,increase, decrease) in lateral force being exerted on the distal end ofthe elongate medical device 19, a second dimension of the indicatorshape can be changed (e.g., increased, decreased). In some examples, thegraphical representation of lateral force 38 can be displayed as a diskand a diameter of the disk can be changed in response to a change in thelateral force exerted on the distal end of the elongate medical device19.

FIG. 3B illustrates a graphical representation of the elongate medicaldevice 31D that includes an elongate shaft 34D (e.g., catheter shaft)and a distal end 33D (e.g., electrode tip) and a graphicalrepresentation of increased lateral force 39. In contrast to FIG. 3A, afirst dimension of the graphical representation of lateral force 38 hasbeen increased to indicate that an increased amount of lateral force isbeing exerted on the distal end of the elongate medical device 19. Forinstance, whereas the graphical representation of lateral force 38 maybe representative of 10 grams of force being applied to the side of thedistal end of the elongate medical device 19, the graphicalrepresentation of increased lateral force 39 may be representative of 25grams of force being applied to the side of the distal end of theelongate medical device 19 (e.g., applied laterally with respect to thedistal end of the elongate medical device 19).

In some embodiments, the diameter of the graphical representation oflateral force 38 (e.g., the indicator shape) can decrease as the amountof lateral force exerted on the side of the distal end of the elongatemedical device 19 decreases. In some embodiments, the diameter candecrease to zero, such that the graphical representation of longitudinalforce 38 is not displayed. Alternatively, the diameter can decrease to adefined amount such that the indicator shape is still visible. Forexample, the diameter can be decreased to a defined number of pixels onthe display 18B.

In some embodiments, the graphical representation of the amount oflateral force 38 can be displayed as the disk, in response to the amountof lateral force exceeding a defined amount of lateral force and anamount of longitudinal force being less than a defined amount oflongitudinal force. In an example, a cut-off point can be establishedwhere the graphical representation of the amount of lateral force 38 isnot displayed in response to the amount of lateral force being below thedefined amount. Alternatively, the graphical representation of theamount of lateral force 38 is displayed in response to the amount oflateral force being above the defined amount. In addition, the graphicalrepresentation of the amount of lateral force 38 can be displayed inresponse to the amount of lateral force being less than the definedamount of lateral force. As such, the graphical representation of theamount of lateral force 38 can be displayed as the disk even though anamount (e.g., below a defined amount) of longitudinal force is beingapplied to the distal end of the elongate medical device 19.

Referring to FIGS. 4A and 4B, a graphical representation of a distal endof an elongate medical device and mixed lateral and longitudinal forcesexerted on the distal end of the elongate medical device is generallyillustrated. FIG. 4A includes a graphical representation of an elongatemedical device 31E that includes a graphical representation of a distalend 33E and elongate shaft 34E displayed on display 18B. In contrast toFIGS. 2A-3B, FIG. 4A displays a graphical representation of mixedlateral and longitudinal force 42 being applied to the distal end of theelongate medical device 19.

In some embodiments, a graphical representation of the mixed lateral andlongitudinal force exerted on the distal end of the elongate medicaldevice 19 can be computed. The graphical representation of the force caninclude a first type of indicator shape for a pure longitudinal forceexerted on the distal end of the elongate medical device 19 and a secondtype of indicator shape for a pure lateral force exerted on the distalend of the elongate medical device 19. In an example, the first type ofindicator shape can be a cylinder for the pure longitudinal force andthe second type of indicator shape can be a disk for the pure lateralforce, as discussed herein.

In some embodiments, in response to the mixed lateral and longitudinalforces being exerted on the distal end of the elongate medical device19, the first type of indicator shape can be merged with the second typeof indicator shape. For example, as an amount of longitudinal forceexerted on the distal end of the elongate medical device 19 decreasesand the amount of lateral force exerted on the distal end of theelongate medical device 19 increases, the cylinder representative of thelongitudinal force can be transformed into the disk representative ofthe lateral force. Alternatively, as an amount of lateral force exertedon the distal end of the elongate medical device 19 decreases and theamount of longitudinal force exerted on the distal end of the elongatemedical device 19 increases, the disk representative of the lateralforce can be transformed into the cylinder representative of thelongitudinal force.

For example, with reference to FIG. 4A, in response to an increase inlateral force from zero force and exertion of some amount oflongitudinal force, a distal diameter (d_(d)) of the cylinder that isrepresentative of the lateral force can be increased, while keeping aproximal diameter (p_(d)) fixed. As such, a frustoconical shape (e.g.,graphical representation of mixed lateral and longitudinal force 42) canbe formed, where d_(d) is representative of an amount of lateral forceapplied to the distal end of the elongate medical device 19 and alongitudinal length (l_(l)) between the distal face and the proximalface of the frustoconical shape is representative of an amount oflongitudinal force applied to the distal end of the elongate medicaldevice 19. Accordingly, as an amount of longitudinal force exerted onthe distal end of the elongate medical device 19 decreases and theamount of lateral force exerted on the distal end of the elongatemedical device 19 increases, d_(d) can increase and l_(l) can decrease,until a disk is formed by a distal face of the frustoconical shape.

Alternatively, in response to an increase in longitudinal force fromzero force and exertion of some amount of lateral force, l_(l) betweenthe distal face and proximal face of the frustoconical shape (e.g.,which is zero at zero force, thus forming the disk) can be increasedwhile keeping p_(d) fixed. As such, a frustoconical shape (e.g.,graphical representation of mixed lateral and longitudinal force 42) canbe formed, where d_(d) is representative of the amount of lateral forceapplied to the distal end of the elongate medical device 19 and l_(l) isrepresentative of the amount of longitudinal force applied to the distalend of the elongate medical device 19. Accordingly, as an amount oflongitudinal force exerted on the distal end of the elongate medicaldevice 19 increases and the amount of lateral force exerted on thedistal end of the elongate medical device 19 decreases, d_(d) candecrease to a minimum diameter that is equal to the fixed p_(d) andl_(l) can increase, until a cylinder is formed.

FIG. 4B illustrates a graphical representation of an elongate medicaldevice 31F that includes a graphical representation of a distal end 33Fand elongate shaft 34F displayed on display 18B. In contrast, FIG. 4Bdisplays a graphical representation of mixed lateral and longitudinalforce 43 of an increased magnitude over mixed lateral and longitudinalforce 42 in FIG. 4A.

Referring to FIGS. 5A-5D, an alternate embodiment of a graphicalrepresentation of force exerted on a distal end of an elongate medicaldevice is generally illustrated. As shown in FIG. 5A, the graphicalrepresentation of the elongate medical device 31G includes a graphicalrepresentation of the distal tip 33G and a graphical representation ofthe elongate shaft 34G. In some embodiments, the first type of indicatorshape can be a sphere 46 located at a distal tip of the graphicalrepresentation of the distal tip 33G. In an example, the diameter(s_(d)) of the sphere 46 can be representative of an amount of lateralforce applied to the distal end of the elongate medical device 19. Forinstance, as the lateral force applied to the distal end of the elongatemedical device 19 increases, s_(d) can increase, thus increasing a sizeof the sphere 46.

As shown in FIG. 5B, the graphical representation of the elongatemedical device 31H includes a graphical representation of the distal tip33H and a graphical representation of the elongate shaft 34H. In someembodiments, the second type of indicator shape can be a torus 47. In anexample, the position of the torus 47 along a longitudinal axis definedby the graphical representation of the elongate medical device 31H canbe representative of an amount of longitudinal force applied to thedistal end of the elongate medical device 19. For instance, as shown inFIG. 5C, the graphical representation of the elongate medical device 31Iincludes a graphical representation of the distal tip 33I and agraphical representation of the elongate shaft 34I. The torus 48 hasbeen moved proximally along the longitudinal axis defined by thegraphical representation of the elongate medical device 31I. In someembodiments, moving the torus 48 proximally along the longitudinal axiscan be representative of an increase in longitudinal force being appliedto the distal end of the elongate medical device 19.

As shown in FIG. 5D, the graphical representation of the elongatemedical device 31J includes a graphical representation of the distal tip33J and a graphical representation of the elongate shaft 34J. The torus49 has been moved proximally further along the longitudinal axis definedby the graphical representation of the elongate medical device 31J,indicating that an increase in longitudinal force has been applied tothe distal end of the elongate medical device 19. In some embodiments,the torus 49 can be coaxial with the graphical representation of theelongate medical device 31J, as the torus 49 moves proximally along thelongitudinal axis defined by the graphical representation of theelongate medical device 31J. For example, the graphical representationof the elongate medical device 31J can push through a center of thetorus 49, as the torus 49 moves proximally along the elongate medicaldevice 31J.

As discussed herein, s_(d) can be representative of an amount of lateralforce applied to the distal end of the elongate medical device 19. Asthe lateral force applied to the distal end of the elongate medicaldevice 19 increases, s_(d) can increase, thus increasing a size of thesphere 46. In some embodiments, s_(d) can be equivalent to a diametert_(d′), t_(d″), t_(d′″) of each torus 47, 48, 49, respectively. As such,t_(d′), t_(d″), t_(d′″) can represent an amount of lateral force appliedto the distal end of the elongate medical device 19. Accordingly, inresponse to an increase in the amount of lateral force applied to thedistal end of the elongate medical device 19, s_(d), t_(d′), t_(d″),t_(d′″) can be increased. Alternatively, in response to a decrease inthe amount of lateral force applied to the distal end of the elongatemedical device 19, s_(d), t_(d′), t_(d″), t_(d′″) can be decreased.

In an example, s_(d) can have a minimum size, such that when no lateralforce is present, the sphere 46 is still visible. Accordingly, t_(d′),t_(d″), t_(d′″) can have a minimum size that is equivalent to s_(d),such that when no lateral force is present, toruses 47, 48, 49 are stillvisible.

In some embodiments, as discussed herein, the first type of indicatorshape (e.g., sphere) can be merged with the second type of indicatorshape (e.g., torus) in response to both longitudinal and lateral forcebeing exerted on the distal end of the elongate medical device 19. Forexample, as an amount of longitudinal force exerted on the distal end ofthe elongate medical device 19 decreases and the amount of lateral forceexerted on the distal end of the elongate medical device 19 increases,the torus representative of the longitudinal force can be transformedinto the sphere representative of the lateral force. Alternatively, asan amount of lateral force exerted on the distal end of the elongatemedical device 19 decreases and the amount of longitudinal force exertedon the distal end of the elongate medical device 19 increases, thesphere representative of the lateral force can be transformed into thetorus representative of the longitudinal force.

Alternatively, in some embodiments, the sphere 46 can be representativeof the amount of longitudinal force exerted on the distal end of theelongate medical device 19 and can increase in size as an amount oflateral force is increased. In some embodiments, the toruses 47, 48, 49can be representative of the lateral force exerted on the distal end ofthe elongate medical device 19 and can move proximally along thegraphical representation of the elongate medical device 19, as thelateral force increases. For example, FIG. 5A can indicate that a purelongitudinal force is being applied to the distal end of the elongatemedical device 19 and FIG. 5D can indicate that a pure lateral force isbeing applied to the distal end of the elongate medical device 19.Accordingly, FIG. 5B can indicate that a mixed lateral and longitudinalforce (e.g., greater amount of longitudinal force than lateral force) isbeing applied to the distal end of the elongate medical device 19 andFIG. 5B can indicate that a mixed lateral and longitudinal force (e.g.,greater amount of lateral force than longitudinal force) is beingapplied to the distal end of the elongate medical device 19.

In some embodiments, dimensions associated with s_(d), t_(d′), t_(d″),t_(d′″) can be held constant as an amount of longitudinal and/or lateralforce applied to the distal end of the elongate medical device 19change. The amount of longitudinal and/or lateral force can be indicatedby force scope 63 and/or data field 68, as described below, for example,with reference to FIG. 6.

In some embodiments, a color of the indicator shapes discussed hereincan change in response to an amount of force exerted on the distal endof the elongate medical device 19 exceeding a threshold. In an example,a color scale can be assigned to a range of force. For instance, a colorscale ranging from green to red can be assigned to the range of force.In response to an increase in the amount of lateral force and/orlongitudinal force exerted on the distal end of the elongate medicaldevice 19, the color of the indicator shape can change from, forexample, green, to yellow, to orange, to red, in accordance with theincreased amount of force. For example, at 10 grams of force, the colorof the indicator shape can transition from green to yellow; at 20 gramsof force, the color of the indicator shape can transition from yellow toorange; and at 30 grams of force, the color of the indicator shape cantransition from orange to red. As such, a visual indication of theamount of force that is easy to identify can be provided to thephysician.

In some embodiments, a binary color scale can be used. For example, forforces below 30 grams of force, the indicator shape can be displayed asgreen. Alternatively, for forces at/or above 30 grams of force, theindicator shape can be displayed as red, for example. In someembodiments, a selection can be made through input/output mechanisms18A, as discussed in relation to FIG. 1, to display the indicator shapeusing a particular color scale. Alternatively, a selection can be madeto display the indicator shape without color (e.g., in greyscale) and/orcolors other than those referred to herein.

In some embodiments, the graphical representation of force discussed inrelation to FIGS. 2A to 5B can be displayed as emanating from thegraphical representation of the distal end of the elongate medicaldevice. In some embodiments, the graphical representation of force canbe displayed as emanating from an interior portion of the graphicalrepresentation of the distal end, such as in FIGS. 3A to 4B.Alternatively, the graphical representation of force can be displayed asemanating from a point distal to the graphical representation of thedistal end, such as in FIGS. 2A and 2B.

FIG. 6 illustrates a display in accordance with embodiments of thepresent disclosure. The display 18B can be a graphical user interface,as discussed herein. In some embodiments, the display 18B can include agraphical representation of the elongate medical device 31K representedin a first view 65A. In some embodiments, the display 18B can include agraphical representation of the elongate medical device 31L in a secondview 65B, which can be from a different perspective than the first view65A. A perspective associated with the first view 65A and second view65B can be indicated by perspective indicator 56A and perspectiveindicator 56B, respectively. For example, first perspective 65A is aperspective from a front quartering angle with respect to a patient'sbody, which is represented by perspective indicator 56A. The secondperspective 65B is a perspective from a rear quartering angle to thepatient's body, which is represented by perspective indicator 56B. Insome embodiments, the first perspective 65A can display an animation ofa first perspective of a heart 67A, while the second perspective 65B candisplay an animation of a second perspective of a heart 67B.

The perspective indicators can include cross-hairs 66A and 66B thatconverge on a location within a patient's body where a distal end of theelongate medical device 19 can be located. FIG. 6 illustrates the crosshairs protruding from a torso, however, the cross-hairs can beillustrated as protruding from other portions of a patient's body,dependent on where the elongate medical device 19 is being inserted.

In some embodiments, the first perspective 65A includes a graphicalrepresentation of the elongate medical device 31K, which includes anelongate shaft 34K and distal end 33K, along with graphicalrepresentation of force 52A (e.g., indicator shape) exerted on thedistal end of the elongate medical device 19. In some embodiments, thesecond perspective 65B includes a graphical representation of theelongate medical device 31L, which includes an elongate shaft 34L anddistal end 33L, along with graphical representation of force 52B exertedon the distal end of the elongate medical device 19. In some examples,the graphical representation of the elongate shafts 34K, 34L includeelectrodes 53A, 54A, 55A, 53B, 54B, 55B, as shown in the firstperspective 65A and the second perspective 65B, respectively.

As discussed herein, electrodes and/or sensors (e.g., magnetic sensors)can be placed in the elongate shaft of the elongate medical device 19for use in determining a position of the elongate shaft. In someembodiments, the electrodes/sensors can be shown in the graphicalrepresentation of the elongate shaft 34K, 34L. Accordingly, if theelongate shaft 34K, 34L bends as a result of a lateral and/orlongitudinal force being applied to the elongate medical device 19,location information can be received from the electrodes/sensors, whichcan be used to project a bend in the elongate shaft 34K, 34L displayedon the display 18B.

In some embodiments, the graphical representation of the force (e.g.,52A, 52B) may include a graphical representation of a magnitude of theforce, which does not include directional information associated withthe force exerted on the distal end of the elongate medical device 19.For example, while a general indication of a lateral and axial force isgiven, a particular vector from which the force is being exerted is notprovided. Such a representation can provide a tool for a physician toquickly look at and interpret. For example, some prior methods haveshown a representation of force that also includes a particular vectorfrom which the force is being exerted. In some cases, the most importantinformation a physician may be concerned with is a magnitude of forcebeing exerted against the distal end of the elongate medical device 19(e.g., to avoid too little or too much exertion of force on the distalend), and not necessarily a particular vector from which the force isbeing exerted. Presenting additional information may lead to a greaterchance of misinterpreting the data. Accordingly, embodiments of thepresent disclosure can provide a graphical representation of a magnitudeof force next to a graphical representation of the distal end 33K, 33L,such that the physician can remain focused on the salient aspects ofcatheter position and contact simultaneously.

If additional information is desired, a physician can view the bend inthe graphical representation of the elongate shaft 34K, 34L, which cangenerally be used to interpret a particular direction in which the forceis being applied to the distal end of the elongate medical device 19.For instance, as discussed herein, the elongate shaft of the elongatemedical device 19 can bend in a particular way in response to a forcefrom a particular direction (e.g., lateral, longitudinal) being exertedon a distal end of the elongate medical device 19. The particular bendassociated with the elongate shaft can be displayed on the display 18Band used by the physician to determine additional information (e.g.,directional force) associated with use of the elongate medical device19.

In some embodiments, the display can include a force scope 63, which canprovide additional information regarding an amount of lateral forceand/or longitudinal force being applied to the distal end of theelongate medical device 19. For example, the force scope 63 can includea force blip 64 that is displayed on the force scope 63. In response toan increase in lateral force, the force blip 64 can move to a particularlocation on the force scope 63, which is indicative of a directionand/or magnitude of the lateral force. Alternatively, in response to anincrease in a longitudinal force, the force blip 64 can move to aparticular location on the force scope 63, which is indicative of amagnitude of the longitudinal force. In some embodiments, a size of theforce blip 64 can change as a result of an increase in magnitude of thelateral force and/or longitudinal force applied to the distal end of theelongate medical device 19. In addition, a color of the force blip 64can change (e.g., using a color scale) as a result of an increase inmagnitude of the lateral force and/or longitudinal force applied to thedistal end of the elongate medical device 19.

In some embodiments, the display 18B can include a data field 68, whichcan display additional data associated with use of the elongated medicaldevice 19. For example, the data field 68 can display a total magnitudeof force 58 applied to a distal end of the elongate medical device 19.The total magnitude of force 58 can include a sum of a magnitude oflateral force 59 and a sum of a magnitude of longitudinal force (e.g.,axial) 60. In addition, the data field 68 can include a force timeintegral (FTI) 62 or lesion size index (LSI) 61. The force time integral62 and the lesion size index 61 can both be calculated and displayed inthe data field 68 to assist a physician with determination of size of alesion created during an ablation procedure.

In some embodiments, a total magnitude of force can be displayed next tothe graphical representation of force 52A. For example, as depicted inFIG. 6, a magnitude of force of 43 grams (43 G) can be displayed next tothe graphical representation of force 52A. By displaying the magnitudeof force next to the graphical representation of force 52A, a physiciancan view the graphical representation of force 52A, while at the sametime maintaining a view of the graphical representation of force 52A. Insome embodiments, the total magnitude of force can move with thegraphical representation of force 52A. For example, if a diameter orlength of the graphical representation of force 52A changes, themagnitude of force can be moved proximally, distally, and/or laterallywith respect to the elongate shaft 34K. This can enable the physician tomaintain eye contact with the graphical representation of force 52A andthe magnitude of force simultaneously.

In some embodiments, the display 18B can include a stability indicator.The stability indicator can indicate whether contact force is steadyover time. In an example, heart beat and respiration can cause avariance in contact force over time and can be accounted for through useof the stability indicator. For example, a threshold can be set thatincludes a particular force. If the force exerted on the distal end ofthe elongate medical device 19 (e.g., total force, longitudinal force,lateral force) is maintained within the threshold, the stabilityindicator can provide an indication that contact force is steady overtime. As such, an indication can be provided of whether contact betweenthe distal tip of the elongate medical device 19 and tissue 13 issteady.

In an example, the stability indicator can be provided in the data field68 as a numerical representation. Alternatively, the stability indicatorcan be represented by changing a color of the force blip 64 and/or acolor of a number being displayed in the data field 68. For example, thenumerical representation of the total magnitude of force 58 can bedisplayed as green in response to the contact force being steady overtime and can be displayed as red in response to the contact force notbeing steady over time.

In some embodiments, the data field 68 can include angle informationassociated with a force being exerted on the distal end of the elongatemedical device 19. In an example, the angle information can provide anangle at which a force vector is being exerted on the distal end of theelongate medical device 19. For example, if a force is a purelongitudinal force, an angle of 0 degrees may be displayed.Alternatively, if a force is a mixed longitudinal and lateral force, anangle of 45 degrees may be displayed, for example. Such information canbe helpful to a physician in determining that adequate contact is beingmade between the distal end of the elongate medical device 19 and thetissue 13.

In some embodiments, the display 18B can include a graph 69, which canbe used to display additional information about the force being exertedon the distal end of the elongate medical device 19. For example, thegraph can include a total amount of force along a y-axis and time alongan x-axis. Features of the graph (e.g., scale, color) as well as graphsthat include different data (e.g., force time integral, lesion sizeindex) can be selected through user input/output mechanisms 18A.

As discussed in relation to FIG. 1, display 18B can be part of thesystem 10, which includes instructions stored on the memory 17 andexecutable by the processing resource 16 for force imaging. In anexample, the instructions can be executable to determine an amount oflongitudinal force and an amount of lateral force exerted on a distalend of an elongate medical device, as discussed herein. In an example,separate longitudinal and lateral components of force can be determined.

In some embodiments, instructions can be executable to display agraphical representation of the amount of longitudinal force and theamount of lateral force via an indicator shape (e.g., 52A, 52B) next toa distal end of a graphical representation of the distal end 33K of theelongate medical device 31K. With reference to FIG. 4A, the indicatorshape 42 can have a fixed proximal diameter (p_(d)), a variable distaldiameter (d_(d)), and a variable longitudinal length (l_(l)) lengthbetween the fixed proximal diameter and the variable distal diameter.

Instructions can be executed to change the variable longitudinal lengthbetween the fixed proximal diameter and the variable distal diameter inresponse to a change in the amount of longitudinal force being exertedon the distal end of the elongate medical device 19. In an example, thevariable longitudinal length can be increased as longitudinal force isincreased and decreased as the longitudinal force is decreased. Inaddition, instructions can be executed to change the variable distaldiameter in response to a change in the amount of lateral force beingexerted on the distal end of the elongate medical device 19. In anexample, the variable distal diameter can increase as lateral force isincreased and decrease as lateral force is decreased. As such, theindicator shape can be displayed as a cylinder in response to exertionof a pure longitudinal force being exerted on the distal end of theelongate medical device. For example, the fixed proximal diameter andthe variable distal diameter can be a same diameter in response to apure longitudinal force being exerted on the distal end of the elongatemedical device. Alternatively, the indicator shape can be displayed as adisk in response to exertion of a pure lateral force being exerted onthe distal end of the elongate medical device. For example, the lengthbetween the fixed proximal diameter and the variable distal diameter canbe zero in response to a pure lateral force being exerted on the distalend of the elongate medical device.

FIG. 7 illustrates a flow chart associated with a method for depictingforce, in accordance with embodiments of the present disclosure. Themethod can include determining, at block 75, if force is exerted on thedistal end of the elongate medical device 19. If no force is exerted, orif the force does not meet a minimum threshold, the method can end.However, if a determination is made that a force is exerted on thedistal end of the elongate medical device 19, the method can proceed toblock 76, where a determination is made of whether the force is purelylongitudinal. If the force is purely longitudinal, the method canproceed to block 77, where an amount of longitudinal force applied tothe distal end of the elongate medical device 19 is determined. Asdiscussed herein, a graphical representation of the longitudinal force(e.g., indicator shape) exerted on the distal end of the elongatemedical device 19 can be displayed next to a graphical representation ofa distal end of the elongate medical device, at block 78.

If a determination is made that the force is not purely longitudinal,the method can proceed to block 79, where a determination is made ofwhether the force is purely lateral. If the force is determined to bepurely lateral, the method can proceed to block 82, where an amount oflateral force applied to the distal end of the elongate medical device19 is determined. Upon determination of the amount of lateral force, agraphical representation of the lateral force (e.g., indicator shape)exerted on the distal end of the elongate medical device 19 can bedisplayed next to a graphical representation of the elongate medicaldevice, at block 83.

Alternatively, if a determination is made that the force is not purelylateral, a determination can be made that the force is a mixed lateraland longitudinal force being applied to the distal end of the elongatemedical device 19. An amount of the lateral force and an amount of thelongitudinal force applied to the distal end of the elongate medicaldevice 19 can be determined at block 80. As discussed herein, thegraphical representation of the longitudinal force (e.g., firstindicator shape) can be merged with the graphical representation of thelateral force (e.g., second indicator shape), at block 81. Accordingly,a cylinder can be merged with a disk and/or a sphere can be merged witha torus, as discussed herein. At block 84, the merged graphicalrepresentation of the longitudinal force (e.g., merged indicator shape)can be displayed.

Embodiments are described herein of various apparatuses, systems, and/ormethods. Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. It will be understood by those skilled in theart, however, that the embodiments may be practiced without suchspecific details. In other instances, well-known operations, components,and elements have not been described in detail so as not to obscure theembodiments described in the specification. Those of ordinary skill inthe art will understand that the embodiments described and illustratedherein are non-limiting examples, and thus it can be appreciated thatthe specific structural and functional details disclosed herein may berepresentative and do not necessarily limit the scope of theembodiments, the scope of which is defined solely by the appendedclaims.

Reference throughout the specification to “various embodiments,” “someembodiments,” “one embodiment,” or “an embodiment”, or the like, meansthat a particular feature, structure, or characteristic described inconnection with the embodiment(s) is included in at least oneembodiment. Thus, appearances of the phrases “in various embodiments,”“in some embodiments,” “in one embodiment,” or “in an embodiment,” orthe like, in places throughout the specification, are not necessarilyall referring to the same embodiment. Furthermore, the particularfeatures, structures, or characteristics may be combined in any suitablemanner in one or more embodiments. Thus, the particular features,structures, or characteristics illustrated or described in connectionwith one embodiment may be combined, in whole or in part, with thefeatures, structures, or characteristics of one or more otherembodiments without limitation given that such combination is notillogical or non-functional.

It will be appreciated that the terms “proximal” and “distal” may beused throughout the specification with reference to a clinicianmanipulating one end of an instrument used to treat a patient. The term“proximal” refers to the portion of the instrument closest to theclinician and the term “distal” refers to the portion located furthestfrom the clinician. It will be further appreciated that for concisenessand clarity, spatial terms such as “vertical,” “horizontal,” “up,” and“down” may be used herein with respect to the illustrated embodiments.However, surgical instruments may be used in many orientations andpositions, and these terms are not intended to be limiting and absolute.

Although at least one embodiment of depicting force has been describedabove with a certain degree of particularity, those skilled in the artcould make numerous alterations to the disclosed embodiments withoutdeparting from the spirit or scope of this disclosure. All directionalreferences (e.g., upper, lower, upward, downward, left, right, leftward,rightward, top, bottom, above, below, vertical, horizontal, clockwise,and counterclockwise) are only used for identification purposes to aidthe reader's understanding of the present disclosure, and do not createlimitations, particularly as to the position, orientation, or use of thedevices. Joinder references (e.g., affixed, attached, coupled,connected, and the like) are to be construed broadly and can includeintermediate members between a connection of elements and relativemovement between elements. As such, joinder references do notnecessarily infer that two elements are directly connected and in fixedrelationship to each other. It is intended that all matter contained inthe above description or shown in the accompanying drawings shall beinterpreted as illustrative only and not limiting. Changes in detail orstructure can be made without departing from the spirit of thedisclosure as defined in the appended claims.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

What is claimed:
 1. A non-transitory computer readable medium storinginstructions for depicting a force exerted on a distal end of anelongate medical device, the instructions executable by a processingresource to cause a computer to: determine the force exerted on thedistal end of the elongate medical device; compute a graphicalrepresentation of the distal end of the elongate medical device and agraphical representation of the force exerted on the distal end of theelongate medical device, wherein the graphical representation of theforce emanates from the graphical representation of the distal end ofthe elongate medical device, wherein the force is determined from asignal received from a force sensor included in the elongate medicaldevice; increase a first dimension of the graphical representation ofthe force in response to a longitudinal force being exerted on thedistal end of the elongate medical device; and increase a seconddimension of the graphical representation of the force in response to alateral force being exerted on the distal end of the elongate medicaldevice, wherein the first dimension is different than the seconddimension, and wherein: the first dimension relates to a longitudinallength of the graphical representation of the force; the first dimensionof longitudinal length is altered based on a change in magnitude of alongitudinal force being exerted on the distal end of the elongatemedical device; the second dimension relates to a lateral width of thegraphical representation of the force; and the second dimension oflateral width is altered based on a change in lateral force beingexerted on the distal end of the elongate medical device; and cause thegraphical representation of the distal end of the elongate medicaldevice and a graphical representation of the force exerted on the distalend of the elongate medical device to be displayed to a user.
 2. Thenon-transitory computer readable medium of claim 1, wherein theinstructions executable by the processing resource to determine theforce exerted on the distal end of the elongate medical device includeinstructions executable to determine an amount of longitudinal forceexerted on the distal end of the elongate medical device and an amountof lateral force exerted on the distal end of the elongate medicaldevice.
 3. The non-transitory computer readable medium of claim 1,wherein the instructions executable to display the graphicalrepresentation of the force exerted on the distal end of the elongatemedical device include instructions executable to display an indicatorshape that is representative of the force exerted on the distal end ofthe elongate medical device.
 4. The non-transitory computer readablemedium of claim 3, further comprising executable instructions to:increase a first dimension of the indicator shape in response to achange in the amount of longitudinal force being exerted on the distalend of the elongate medical device; and increase a second dimension ofthe indicator shape in response to a change in the amount of lateralforce being exerted on the distal end of the elongate medical device. 5.The non-transitory computer readable medium of claim 1, wherein theinstructions are executable to display the graphical representation ofthe longitudinal force as a cylinder that extends from a distal end ofthe graphical representation of the elongate medical device and along alongitudinal axis defined by the elongate medical device.
 6. Thenon-transitory computer readable medium of claim 5, wherein theinstructions are executable to display the graphical representation ofthe amount of longitudinal force as the cylinder, in response to theamount of longitudinal force exceeding a defined amount of longitudinalforce and an amount of lateral force being less than a defined amount oflateral force.
 7. The non-transitory computer readable medium of claim5, wherein the instructions are executable to change a longitudinallength of the cylinder in response to a change in the longitudinal forceexerted on the distal end of the elongate medical device.
 8. Thenon-transitory computer readable medium of claim 1, wherein theinstructions are executable to display the graphical representation ofthe lateral force as a disk that emanates from the graphicalrepresentation of the distal end of the elongate medical device.
 9. Thenon-transitory computer readable medium of claim 8, wherein theinstructions are executable to display the graphical representation ofthe amount of lateral force as the disk, in response to the amount ofthe lateral force exceeding a defined amount of lateral force and anamount of longitudinal force being less than a defined amount oflongitudinal force.
 10. The non-transitory computer readable medium ofclaim 1, wherein the instructions are executable to change a color ofthe indicator shape from a first color to a second color in response toan amount of the force exerted on the distal end of the elongate medicaldevice exceeding a threshold.
 11. The non-transitory computer readablemedium of claim 1, wherein a diameter of the graphical representation offorce decreases to zero in the absence of the lateral force.
 12. Thenon-transitory computer readable medium of claim 1, wherein a length ofthe graphical representation of force decreases to zero in the absenceof the longitudinal force.